(define (problem fetch_domain)
(:domain fetch_domain)
(:objects
    init_wp, place_wp - waypoint
    fetch - robot
    table1, table2 - table
    cube - cube
    fetch_arm - arm
)
(:init
    (robot_at fetch init_wp)
    (object_on_desk cube table1)
    (arm_tucked fetch_arm)
    (gripper_open fetch_arm)
)
    
(:goal (and
    (closeto_table fetch table1)
    (get_object fetch cube)
    (closeto_table fetch table2)
    (release_object fetch cube)
)))